WallyHackenslacker/IAS-SS
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Wally Hackenslacker
2016-06-26 06:54:18 -04:00
parent 87859fa044
commit 5d4529f6d8
10 changed files with 98 additions and 43 deletions
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12
ias_robot.cpp
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@@ -32,7 +32,8 @@ static const float TURN_DEG_PER_SEC = 40.0f;
static const float METERS_PER_SEC = 0.4f;
static const long HALF_SECOND_USEC = 500000;
static const double MIN_DIST_M = 1.5;
static const double CRIT_DIST_M = 1.0;
static const double CRIT_DIST_M = 1.0;
static const float MAP_SIZE = 16.0f;
IASSS_Robot::IASSS_Robot(std::string hostname, uint32_t port, PheromoneMap * phero_map) : Robot(hostname, port) {
_phero_map = phero_map;
@@ -45,6 +46,7 @@ IASSS_Robot::~IASSS_Robot() {
void IASSS_Robot::run() {
int rv;
float x, y;
long then, now, delta, wait;
struct timeval tv;
double dist = std::numeric_limits<double>::infinity();
@@ -71,7 +73,13 @@ void IASSS_Robot::run() {
rv = gettimeofday(&tv, NULL);
now = tv.tv_usec;
delta = now - then;
if(_phero_map != NULL) {
x = (_p_proxy->GetXPos() + (MAP_SIZE / 2)) / MAP_SIZE;
y = (_p_proxy->GetYPos() + (MAP_SIZE / 2)) / MAP_SIZE;
_phero_map->s_draw_point(x, y);
}
// Sleep for a bit before finishing this control iteration.
wait = rv == 0 ? HALF_SECOND_USEC - delta : HALF_SECOND_USEC;
usleep(wait);